Modelling and control of a walking four link robot

Authors:
Y. Yavin;C. Frangos
Affiliations:
Department of Electrical and Electronic Engineering University of Pretoria Pretoria 0002, South Africa;Department of Statistics The Rand Afrikaans University P.O. Box 524, Auckland Park 2006, Johannesburg, South Africa
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
2002

Citing 3
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Mathematical and Computer Modelling: An International Journal

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Abstract

This work deals with the modelling of the planar motion of a walking four link robot as described in Figure 1. The system is composed of four links, a mass m"O attached to the joint at r"2, and a kind of a ''shoe'' plate that is attached at the joints of each of the points r"0 and r"4. These plates are used to maintain the lateral balance and to help to induce torques at these points. The role of this articulated system is to imitate a walking biped robot. In this work, we confine the discussion to the modelling and control of one step.